CN103970059A - Animal sensing circuit of bionic-robot - Google Patents
Animal sensing circuit of bionic-robot Download PDFInfo
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- CN103970059A CN103970059A CN201410224383.0A CN201410224383A CN103970059A CN 103970059 A CN103970059 A CN 103970059A CN 201410224383 A CN201410224383 A CN 201410224383A CN 103970059 A CN103970059 A CN 103970059A
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Abstract
The invention belongs to the technical field of robot control circuits and particularly relates to an animal sensing circuit of a bionic-robot. The invention solves the technical problem that the invention provides the animal sensing circuit of the bionic-robot, wherein the circuit can sense human body or animal signals and has a distance and displacement sensing function. The technical scheme adopted by the invention is as follows: the animal sensing circuit of the bionic-robot comprises a master controller module, an infrared induction module, an ultrasonic transmitting module, an ultrasonic receiving module, a clock module, a storage module, a resetting control module and a power supply module, wherein the master controller module is respectively connected with the infrared induction module, the ultrasonic transmitting module, the ultrasonic receiving module, the clock module, the storage module and the resetting control module. The power supply module supplies power to the whole circuit. The animal sensing circuit of the bionic-robot provided by the invention is suitable for the field of robots.
Description
technical field
The invention belongs to robot control circuit technical field, be specially a kind of bio-robot animal sensing circuit.
background technology
Robot is the installations that automatically perform work, it both can accept mankind commander, can move the program of layout in advance again, also can be according to the principle guiding principle action of formulating with artificial intelligence technology, its task is to assist or replace human work's work, for example production industry, building industry, or dangerous work.
Existing most of robot also belongs to a kind of machine that can walk and pronounce in essence, great majority do not have the phy-aware ability that " people " has, the perceptional function without animal or human body, can not independent judgment people or animal near and the size of this object of judgement, position etc., interactivity is poor.
Summary of the invention
The present invention overcomes the deficiency that prior art exists, and technical matters to be solved is: provide a kind of can perception animal signal and there is the bio-robot animal sensing circuit apart from displacement sensing function.
The present invention adopts following technical scheme to realize:
A bio-robot animal sensing circuit, comprising: main controller module, infrared induction module, ultrasound wave transmitter module, ultrasound wave receiver module, clock module, memory module, reset control module and power module.
Described main controller module is connected with infrared induction module, ultrasound wave transmitter module, ultrasound wave receiver module, clock module, memory module and reset control module respectively, and described power module is whole circuit supply.
The circuit structure of described infrared induction module is: comprise infra-red detection sensor IC1, behind one end of the anodal also connecting resistance R1 of power end of described infra-red detection sensor IC1, be connected with positive source VCC, behind one end of one end of the other end of described resistance R 1 connecting resistance R2 and capacitor C 1, be connected with the collector of NPN type triode Q1, behind one end of the signal output part of described infra-red detection sensor IC1 connecting resistance R3, be connected with one end of capacitor C 2, after the other end of the other end shunt-wound capacitance C2 of described resistance R 2, be connected with the base stage of NPN type triode Q1, ground connection after the emitter of the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and NPN type triode Q1.
After the other end series resistor R4 of described capacitor C 1, be connected with the positive input terminal of operational amplifier IC2, behind one end of one end of the negative input end of described operational amplifier IC2 connecting resistance R5 and capacitor C 3, be connected with one end of resistance R 6, the rear ground connection of other end serial connection capacitor C 4 of described resistance R 5, after the other end of the other end of described capacitor C 3 connecting resistance R6, be connected with the output terminal of operational amplifier IC2, the output terminal of described operational amplifier IC2 is connected with the signal input port of main controller module.
It is the infrared ray sensor of Q74 that described infra-red detection sensor IC1 can adopt model, described operational amplifier IC2 adopts the operational amplifier chip that model is LM358, when described infra-red detection sensor IC1 detects the infrared signal that the place ahead human body or animal body give off, by infra-red detection sensor IC1 signal output part, export faint electric signal, through composition first order amplifying circuits such as NPN type triode Q1, amplify, by capacitor C 1, be input to and in operational amplifier IC2, carry out high-gain again, low noise amplification, the signal of now being exported by operational amplifier IC2 is enough strong, finally this amplifying signal is sent to main controller module 1, main controller module 1 is through analog-to-digital conversion module, above-mentioned signal is converted into corresponding electric signal.
The circuit structure of described ultrasound wave transmitter module is: comprise time-base integrated circuit chip IC 3, after a stiff end of 7 pin of described time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, be connected with the movable end of adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5, 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3, 4 pin of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module, 1 pin ground connection of time-base integrated circuit chip IC 3, after 3 pin series resistor R9 of time-base integrated circuit chip IC 3, be connected with 1 pin of hex inverter IC4.
9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input end of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input end of ultrasonic transducer S1.
The circuit structure of described ultrasound wave receiver module is: comprise acoustic wave transducer S2, behind an output terminal of described acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output terminal of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8.
After the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC.
7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6; Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the output terminal of voltage comparator ic 6 is connected with the signal input port of main controller module.
It is the chip of NE555 that described time-base integrated circuit chip IC 3 can adopt model, it is the chip of CD4049 that described hex inverter IC4 can adopt model, it is the dual operational amplifier of TL082 that described dual operational amplifier IC5 can adopt model, and it is the voltage comparator chip of LM311 that described voltage comparator ic 6 can adopt model.
Above-mentioned time-base integrated circuit chip IC 3 forms without steady multivibrator, its oscillation frequency is by adjustable resistance R8, resistance R 7 and capacitor C 5 determine, by regulating adjustable resistance R8 can change oscillation frequency, the oscillator signal of output promotes ultrasonic transducer S1 sounding through the amplification of hex inverter IC4, 4 pin of time-base integrated circuit chip IC 3 are controlled by main controller module 1, when needs are launched ultrasonic signal, this pin is high level, the feeble signal that above-mentioned ultrasonic transducer S2 receives, through being ac-coupled to dual operational amplifier IC5, amplify, process amplifying signal is again by voltage comparator ic 6 shapings, output signal is received by main controller module 1, by the ultrasound wave transmitter module 3 being connected with main controller module, the variation of signal in ultrasound wave receiver module 4, main controller module can judgment object size, shape, and movement locus and speed etc.
Above-mentioned main controller module, clock module, memory module, reset control module and power module all can adopt existing known products.
Described infrared induction module, ultrasound wave transmitter module and ultrasound wave receiver module all have a plurality of, and described ultrasound wave transmitter module and ultrasound wave receiver module arrange in pairs.
During work, bio-robot can be surveyed animal around by infrared induction module, rely on ultrasound wave transmitter module and the judgement of ultrasound wave receiver module around particular location and the shape size of animal simultaneously, comprise: height (size), position, movement velocity etc., make bio-robot there is the perception of " people ", perfect " sensation " function of bio-robot; Described infrared induction module, ultrasound wave transmitter module and ultrasound wave receiver module all have a plurality of, described ultrasound wave transmitter module and ultrasound wave receiver module arrange in pairs, can be comprehensive, the detection of the multi-angle information such as position, size and translational speed of object around.
The beneficial effect that the present invention compared with prior art has is: in the present invention, bio-robot can be surveyed animal around by infrared induction module, rely on particular location and the shape size of ultrasound wave transmitter module and ultrasound wave receiver module judgement people or animal simultaneously, make bio-robot there is the perception of " people ", perfect " sensation " function of bio-robot; Sensing module in the present invention all adopts Low-voltage Low-power DC circuit, and energy consumes low, can meet various types of bio-robots and use, practical.
Accompanying drawing explanation
Fig. 1 is electrical block diagram of the present invention.
Fig. 2 is the electrical block diagram of infrared induction module in the present invention.
Fig. 3 is the electrical block diagram of ultrasound wave transmitter module in the present invention.
Fig. 4 is the electrical block diagram of ultrasound wave receiver module in the present invention.
In figure: in figure: 1-main controller module, 2-infrared induction module, 3-ultrasound wave transmitter module, 4-ultrasound wave receiver module, 5-clock module, 6-memory module, 7-reset control module, 8-power module.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail:
As shown in Figure 1, a kind of bio-robot animal sensing circuit, comprising: main controller module 1, infrared induction module 2, ultrasound wave transmitter module 3, ultrasound wave receiver module 4, clock module 5, memory module 6, reset control module 7 and power module 8.
Described main controller module 1 is connected with infrared induction module 2, ultrasound wave transmitter module 3, ultrasound wave receiver module 4, clock module 5, memory module 6 and reset control module 7 respectively, and described power module 8 is whole circuit supply.
As shown in Figure 2, the circuit structure of described infrared induction module 2 is: behind one end of the anodal also connecting resistance R1 of power end of infra-red detection sensor IC1, be connected with positive source VCC, behind one end of one end of the other end of described resistance R 1 connecting resistance R2 and capacitor C 1, be connected with the collector of NPN type triode Q1, behind one end of the signal output part of described infra-red detection sensor IC1 connecting resistance R3, be connected with one end of capacitor C 2, after the other end of the other end shunt-wound capacitance C2 of described resistance R 2, be connected with the base stage of NPN type triode Q1, ground connection after the emitter of the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and NPN type triode Q1.
After the other end series resistor R4 of described capacitor C 1, be connected with the positive input terminal of operational amplifier IC2, behind one end of one end of the negative input end of described operational amplifier IC2 connecting resistance R5 and capacitor C 3, be connected with one end of resistance R 6, the rear ground connection of other end serial connection capacitor C 4 of described resistance R 5, after the other end of the other end of described capacitor C 3 connecting resistance R6, be connected with the output terminal of operational amplifier IC2, the output terminal of described operational amplifier IC2 is connected with the signal input port of main controller module 1.
As shown in Figure 3, the circuit structure of described ultrasound wave transmitter module 3 is: after a stiff end of 7 pin of time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, be connected with the movable end of adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5; 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3,4 pin of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module 1,1 pin ground connection of time-base integrated circuit chip IC 3, is connected with 1 pin of hex inverter IC4 after 3 pin series resistor R9 of time-base integrated circuit chip IC 3.
9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input end of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input end of ultrasonic transducer S1.
As shown in Figure 4, the circuit structure of described ultrasound wave receiver module 4 is: behind an output terminal of acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output terminal of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8.
After the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC.
7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6; Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the output terminal of voltage comparator ic 6 is connected with the signal input port of main controller module 1.
During concrete enforcement, described infra-red detection sensor IC1 adopts the infrared ray sensor that model is Q74; Described operational amplifier IC2 adopts the operational amplifier chip that model is LM358.
Described time-base integrated circuit chip IC 3 adopts the chip that model is NE555, and described hex inverter IC4 adopts the chip that model is CD4049.
Described dual operational amplifier IC5 adopts the dual operational amplifier that model is TL082, and described voltage comparator ic 6 adopts the voltage comparator chip that model is LM311.
Above-mentioned main controller module 1, clock module 5, memory module 6, reset control module 7 and power module 8 all can directly be bought and obtain.
Above-mentioned positive source VCC can adopt+direct supply below 36V, employing+12V power supply in this embodiment, above-mentioned components and parts are Low-voltage Low-power direct current components and parts, energy consumes low, can be fine the short slab problem of adaptation robot existing power supply, can meet various types of bio-robots and use, practical.
Claims (3)
1. a bio-robot animal sensing circuit, is characterized in that: main controller module (1), infrared induction module (2), ultrasound wave transmitter module (3), ultrasound wave receiver module (4), clock module (5), memory module (6), reset control module (7) and power module (8);
Described main controller module (1) is connected with infrared induction module (2), ultrasound wave transmitter module (3), ultrasound wave receiver module (4), clock module (5), memory module (6) and reset control module (7) respectively, and described power module (8) is whole circuit supply;
Described infrared induction module (2) comprises infra-red detection sensor IC1, behind one end of the anodal also connecting resistance R1 of power end of described infra-red detection sensor IC1, be connected with positive source VCC, behind one end of one end of the other end of described resistance R 1 connecting resistance R2 and capacitor C 1, be connected with the collector of NPN type triode Q1, behind one end of the signal output part of described infra-red detection sensor IC1 connecting resistance R3, be connected with one end of capacitor C 2, after the other end of the other end shunt-wound capacitance C2 of described resistance R 2, be connected with the base stage of NPN type triode Q1, ground connection after the emitter of the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and NPN type triode Q1, after the other end series resistor R4 of described capacitor C 1, be connected with the positive input terminal of operational amplifier IC2, behind one end of one end of the negative input end of described operational amplifier IC2 connecting resistance R5 and capacitor C 3, be connected with one end of resistance R 6, the rear ground connection of other end serial connection capacitor C 4 of described resistance R 5, after the other end of the other end of described capacitor C 3 connecting resistance R6, be connected with the output terminal of operational amplifier IC2, the output terminal of described operational amplifier IC2 is connected with the signal input port of main controller module (1),
Described ultrasound wave transmitter module (3) comprises time-base integrated circuit chip IC 3, after a stiff end of 7 pin of described time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, be connected with the movable end of adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5, 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3, 4 pin of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module (1), 1 pin ground connection of time-base integrated circuit chip IC 3, after 3 pin series resistor R9 of time-base integrated circuit chip IC 3, be connected with 1 pin of hex inverter IC4, 9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input end of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input end of ultrasonic transducer S1,
Described ultrasound wave receiver module (4) comprises acoustic wave transducer S2, behind an output terminal of described acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output terminal of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8, after the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC, 7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6, ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the output terminal of voltage comparator ic 6 is connected with the signal input port of main controller module (1).
2. bio-robot animal sensing circuit according to claim 1, it is characterized in that: described infrared induction module (2), ultrasound wave transmitter module (3) and ultrasound wave receiver module (4) all have a plurality of, described ultrasound wave transmitter module (3) and ultrasound wave receiver module (4) arrange in pairs.
3. bio-robot animal sensing circuit according to claim 2, is characterized in that:
Described infra-red detection sensor IC1 adopts the infrared ray sensor that model is Q74;
Described operational amplifier IC2 adopts the operational amplifier chip that model is LM358;
Described time-base integrated circuit chip IC 3 adopts the chip that model is NE555;
Described hex inverter IC4 adopts the chip that model is CD4049;
Described dual operational amplifier IC5 adopts the dual operational amplifier that model is TL082;
Described voltage comparator ic 6 adopts the voltage comparator chip that model is LM311.
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| CN201410224383.0A CN103970059B (en) | 2014-05-26 | 2014-05-26 | Bio-robot animal sensing circuit |
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| CN201410224383.0A CN103970059B (en) | 2014-05-26 | 2014-05-26 | Bio-robot animal sensing circuit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107390294A (en) * | 2017-08-28 | 2017-11-24 | 惠州市元盛科技有限公司 | A kind of ultrasonic movement detection method and circuit |
| CN108142317A (en) * | 2018-01-03 | 2018-06-12 | 长沙拓扑陆川新材料科技有限公司 | One kind walks ground pig and forms device |
| CN108157284A (en) * | 2018-01-03 | 2018-06-15 | 长沙拓扑陆川新材料科技有限公司 | One kind walks ground pig and forms method |
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| CN103970059B (en) | 2016-07-13 |
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